lynxnb authored 2 years ago and Niccolò Betto committed 2 years ago

* Lock the mutex before checking for the amount of tasks in `enableTask` and `disableTask`
* Lock the scheduler prior to starting it, to avoid populating the agenda more than one time

Updates the task scheduler test entrypoint to account for modifications
prior to this commit. The test was also expanded to perform more
thorough testing of the scheduler by targeting edge cases and track
unintended behaviour under heavier usage.

Avoids runtime re-allocations by reserving the
maximum capacity at construction time.

The use of RAII classes to lock/unlock the mutex in the aforementioned
functions causes undesired re-locking/unlocking in the case of an
early return, because of the way RAII works. Avoid this by manually
locking and unlocking the mutex.

The tasks vector is resized to MAX_TASKS (256 at the time of writing
this) immediately after construction to avoid reallocations.

Copy constructor and assignment operator of the `Task` class has been
deleted to avoid unnecessary copies of the `std::function` member, which
can get pretty heavy in some cases.

* Remove the `id` field as it was unused
* `makeTask` was removed in favor of a `Task` constructor
* Added default `Task` constructor for empty `Task` objects

Matteo Pignataro authored 2 years ago and Niccolò Betto committed 2 years ago

[TaskScheduler] Fixed some issues, added destructor, converted the array to a dynamic allocated one (for dimension purposes)

Matteo Pignataro authored 2 years ago and Niccolò Betto committed 2 years ago

[TaskScheduler][TO BE TESTED] Added makeTask method and removed pointer array and dynamic allocation.

Federico Mandelli authored 2 years ago and Niccolò Betto committed 2 years ago

[Task Scheduler] Resolved bug where we look for available id outside the mutex, added a variable to save the minimum id that could be used at the next add operation

Matteo Pignataro authored 2 years ago and Niccolò Betto committed 2 years ago

 - Replaced task map with std::array
 - Rework on how tasks are removed

[I2C] Added high level methods, modified pin modes, deleted copy/move constructors and operators and bugfix in SyncI2C

- Added high level methods to read multiple bytes and write a single register
- Deleted copy/move constructors and operators
- Fixed SyncedI2C::readRegister method
- Changed pin modes from ALTERNATE_OD to ALTERNATE_OD_PULL_UP
- Modified tests in order to try also the new methods
- Uniformed passing of const reference in low-level and high-level drivers

Giulia Ghirardini authored 2 years ago and Alberto Nidasio committed 2 years ago

[LIS2MDL] Fixed selfTest issue register within idle mode, modified writeRegister readability, modified some comments